#!/usr/bin/env python
# coding: utf-8
import roslib
import rospy
import tf
import geometry_msgs.msg
import sys
import numpy as np
import transforms3d as tfs
import math
import file_operate
import json
import csv
from tf2_msgs.msg import TFMessage
  
if __name__ == '__main__':
    rospy.init_node('turtle_tf_listener')

    listener = tf.TransformListener()
    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
        try:
            (trans,rot) = listener.lookupTransform('/base_link', '/6_Link', rospy.Time(0))
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
            continue

        rate.sleep()
        

  


